[
  {
    "completion_time": 0.046648263931274414,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": -0.0006576020486082079,
      "book-upper shelf": 0.594597282390425,
      "book-lower shelf": 0.37912346364961996
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0344454917654566e-06,
    "bimanual_gripper_vertical_difference": 1.0430243335690648e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.0788412094116211,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005674375990555314,
      "book-upper shelf": 0.5935212470905353,
      "book-lower shelf": 0.3782319579102224
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2786597707023506e-05,
    "bimanual_gripper_vertical_difference": 2.0141408541007877e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1101374626159668,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007380219397272736,
      "book-upper shelf": 0.5933633158068491,
      "book-lower shelf": 0.3780951891261817
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 8.561440964111969e-06,
    "bimanual_gripper_vertical_difference": 2.9281558659259113e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1414504051208496,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006505387417131692,
      "book-upper shelf": 0.5934381687601084,
      "book-lower shelf": 0.37815569086773426
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.439808761076783e-06,
    "bimanual_gripper_vertical_difference": 3.896437728023727e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.17356324195861816,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005268709697483498,
      "book-upper shelf": 0.5935510080046146,
      "book-lower shelf": 0.37825225089010917
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 7.25297774095756e-05,
    "bimanual_gripper_vertical_difference": 5.31583892460219e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.20527029037475586,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005808829610112198,
      "book-upper shelf": 0.5934951712886881,
      "book-lower shelf": 0.3781997921048674
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.048952387398913e-05,
    "bimanual_gripper_vertical_difference": 6.616255173360249e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.23735857009887695,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006989515326794038,
      "book-upper shelf": 0.593388110468527,
      "book-lower shelf": 0.3781086575556918
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0004982474597199757,
    "bimanual_gripper_vertical_difference": 8.672087270511497e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2690610885620117,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006042795767433606,
      "book-upper shelf": 0.5934672313678491,
      "book-lower shelf": 0.3781711791979742
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006886438329088151,
    "bimanual_gripper_vertical_difference": 1.1477297084949711e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.30208396911621094,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005262332895655808,
      "book-upper shelf": 0.5935352457917369,
      "book-lower shelf": 0.3782271013182322
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0012773199366925066,
    "bimanual_gripper_vertical_difference": 1.3815156401580314e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3343782424926758,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005471885453847136,
      "book-upper shelf": 0.5935295360338677,
      "book-lower shelf": 0.37823178308388783
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0011533536146737541,
    "bimanual_gripper_vertical_difference": 1.6312008299657066e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3651437759399414,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00042609565681139827,
      "book-upper shelf": 0.5936153230777036,
      "book-lower shelf": 0.37828757736680435
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.001158290019381056,
    "bimanual_gripper_vertical_difference": 1.8496302207021194e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.39501476287841797,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005017399467526218,
      "book-upper shelf": 0.5935502868075231,
      "book-lower shelf": 0.3782347596363765
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0010637241269817166,
    "bimanual_gripper_vertical_difference": 2.039392921204808e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.42574095726013184,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006576387411733053,
      "book-upper shelf": 0.5934052872478568,
      "book-lower shelf": 0.37810871151395087
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0015193388410051226,
    "bimanual_gripper_vertical_difference": 2.2828830689073463e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4570505619049072,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000655369582707066,
      "book-upper shelf": 0.5934114318189108,
      "book-lower shelf": 0.3781168771098617
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0014165574996807151,
    "bimanual_gripper_vertical_difference": 2.5299394214504745e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.48898959159851074,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000569687400069796,
      "book-upper shelf": 0.593482911307655,
      "book-lower shelf": 0.37817326341957697
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0013257331181712512,
    "bimanual_gripper_vertical_difference": 2.802154410730395e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.520383358001709,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000540832695982929,
      "book-upper shelf": 0.5935014644692707,
      "book-lower shelf": 0.37818359295370985
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0012766424544652908,
    "bimanual_gripper_vertical_difference": 3.078944479928403e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5514671802520752,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005064368611524817,
      "book-upper shelf": 0.593538443656578,
      "book-lower shelf": 0.3782192320885577
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.001259123657423883,
    "bimanual_gripper_vertical_difference": 3.3379062507463306e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5825140476226807,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000563283730252051,
      "book-upper shelf": 0.5934740342075444,
      "book-lower shelf": 0.37815516252272163
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0011900338276477022,
    "bimanual_gripper_vertical_difference": 3.5801634212795364e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6161084175109863,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006393359269579735,
      "book-upper shelf": 0.5934146325382277,
      "book-lower shelf": 0.3781114593326537
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0016311010367427458,
    "bimanual_gripper_vertical_difference": 3.750002882487841e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6475329399108887,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007188927615993101,
      "book-upper shelf": 0.5933403300892908,
      "book-lower shelf": 0.3780466566996537
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0018950963686641454,
    "bimanual_gripper_vertical_difference": 3.917219966176333e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6809573173522949,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006824478899482012,
      "book-upper shelf": 0.5933708329581678,
      "book-lower shelf": 0.3780707942433326
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0020039494298098167,
    "bimanual_gripper_vertical_difference": 4.022406225032799e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7120096683502197,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005426481893563428,
      "book-upper shelf": 0.5934870041788914,
      "book-lower shelf": 0.3781620814163598
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0019467510097749836,
    "bimanual_gripper_vertical_difference": 4.1095249486195424e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7427709102630615,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005697075028381349,
      "book-upper shelf": 0.593464074648914,
      "book-lower shelf": 0.378143714676977
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0018864859320122031,
    "bimanual_gripper_vertical_difference": 4.171380345489077e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7741279602050781,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006010423932946152,
      "book-upper shelf": 0.59344698858595,
      "book-lower shelf": 0.3781373033427318
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0018770963444760143,
    "bimanual_gripper_vertical_difference": 4.231072571007447e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8061578273773193,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000647375942930517,
      "book-upper shelf": 0.5933954141072787,
      "book-lower shelf": 0.3780865328963656
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.001910236770273338,
    "bimanual_gripper_vertical_difference": 4.29431082338283e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8377015590667725,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005612072356452336,
      "book-upper shelf": 0.5934727108382516,
      "book-lower shelf": 0.3781517335725763
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0018392591556773209,
    "bimanual_gripper_vertical_difference": 4.365585231775198e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8694436550140381,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005296471480114029,
      "book-upper shelf": 0.593492963068247,
      "book-lower shelf": 0.37816296823016665
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0017727794010011194,
    "bimanual_gripper_vertical_difference": 4.446436195369462e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9012796878814697,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005286125105282702,
      "book-upper shelf": 0.593498135547843,
      "book-lower shelf": 0.378170412275552
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0017105549602367317,
    "bimanual_gripper_vertical_difference": 4.5310023669539335e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9323606491088867,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00044595630905475137,
      "book-upper shelf": 0.5935657250976486,
      "book-lower shelf": 0.3782226722266547
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0016545667243611298,
    "bimanual_gripper_vertical_difference": 4.615995402005034e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9640588760375977,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005564527648700412,
      "book-upper shelf": 0.5934634775449108,
      "book-lower shelf": 0.37813414674532203
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0018369523786628374,
    "bimanual_gripper_vertical_difference": 4.674718001584921e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9957361221313477,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007179572734086204,
      "book-upper shelf": 0.5933187963348066,
      "book-lower shelf": 0.3780122494501236
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.001889936795072907,
    "bimanual_gripper_vertical_difference": 8.220391631948736e-06,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0267844200134277,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007149288319034941,
      "book-upper shelf": 0.5933235620869796,
      "book-lower shelf": 0.37801775701906515
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.002433885234355046,
    "bimanual_gripper_vertical_difference": 3.4278932642538285e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0582847595214844,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004954045080121094,
      "book-upper shelf": 0.593507271487877,
      "book-lower shelf": 0.37816312862318896
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.004205004156900363,
    "bimanual_gripper_vertical_difference": 8.51222594504407e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0891640186309814,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005739754973548283,
      "book-upper shelf": 0.5934523567567164,
      "book-lower shelf": 0.3781281033787452
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.015146671682496742,
    "bimanual_gripper_vertical_difference": 0.0001587027567121153,
    "task_success": 0.0
  },
  {
    "completion_time": 1.120187520980835,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005610560285211896,
      "book-upper shelf": 0.5934457187768849,
      "book-lower shelf": 0.3781092722572501
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.035455822977777225,
    "bimanual_gripper_vertical_difference": 0.00026332919871727384,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1520144939422607,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000594691752376586,
      "book-upper shelf": 0.5934211373393637,
      "book-lower shelf": 0.3780925955180975
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.060188790749690996,
    "bimanual_gripper_vertical_difference": 0.00037425505651649134,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1835699081420898,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006015265241113843,
      "book-upper shelf": 0.5934080567229332,
      "book-lower shelf": 0.37807651621264254
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0896480410204053,
    "bimanual_gripper_vertical_difference": 0.00040014957015937895,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2148919105529785,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005323228648883571,
      "book-upper shelf": 0.5934674431022469,
      "book-lower shelf": 0.378124658027236
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1237570849205956,
    "bimanual_gripper_vertical_difference": 0.0005596266623205612,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2464730739593506,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005703191419748066,
      "book-upper shelf": 0.5934461076953842,
      "book-lower shelf": 0.37811591475538936
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.16785314145107064,
    "bimanual_gripper_vertical_difference": 0.0010245514519387673,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2775750160217285,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006559820690106299,
      "book-upper shelf": 0.5933507343124536,
      "book-lower shelf": 0.3780220110918832
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.20965486627956845,
    "bimanual_gripper_vertical_difference": 0.0017524379454971096,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3111248016357422,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005254008870843041,
      "book-upper shelf": 0.5934762581244809,
      "book-lower shelf": 0.3781339857978509
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.24134688930449985,
    "bimanual_gripper_vertical_difference": 0.0026519773317970822,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3419928550720215,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005782161982264,
      "book-upper shelf": 0.5934249924138137,
      "book-lower shelf": 0.37808791673257724
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2578902067459308,
    "bimanual_gripper_vertical_difference": 0.0036828008672547146,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3730013370513916,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004465532624339241,
      "book-upper shelf": 0.5935309364866271,
      "book-lower shelf": 0.37816846287330425
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.268513394703106,
    "bimanual_gripper_vertical_difference": 0.004835849531735883,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4034175872802734,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000548603597794628,
      "book-upper shelf": 0.5934312697009607,
      "book-lower shelf": 0.3780784843014622
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2759525362431985,
    "bimanual_gripper_vertical_difference": 0.006096008889190313,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4346637725830078,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005600846612052734,
      "book-upper shelf": 0.5934309956796423,
      "book-lower shelf": 0.37808553121719923
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27272408609744625,
    "bimanual_gripper_vertical_difference": 0.007348920399113457,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4651546478271484,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000585091203508803,
      "book-upper shelf": 0.5934038091364832,
      "book-lower shelf": 0.37805914544139313
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2670762892486268,
    "bimanual_gripper_vertical_difference": 0.008541010615481176,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4968104362487793,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005914589804369985,
      "book-upper shelf": 0.593391170128929,
      "book-lower shelf": 0.37804345431829567
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.26156405106301694,
    "bimanual_gripper_vertical_difference": 0.009674199680225223,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5287280082702637,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005217845313721936,
      "book-upper shelf": 0.593450947281769,
      "book-lower shelf": 0.37809190445339663
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.25640879276471423,
    "bimanual_gripper_vertical_difference": 0.010743471120582623,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5602142810821533,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005223561757263795,
      "book-upper shelf": 0.5934483253895171,
      "book-lower shelf": 0.37808816140875295
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2610843530726793,
    "bimanual_gripper_vertical_difference": 0.011741251724905661,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5934429168701172,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005527973819429155,
      "book-upper shelf": 0.593427206267774,
      "book-lower shelf": 0.37807483756601784
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27051012170961775,
    "bimanual_gripper_vertical_difference": 0.012694332120471911,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6257808208465576,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006686429412174899,
      "book-upper shelf": 0.5933172396960741,
      "book-lower shelf": 0.3779776828437051
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2787788008442553,
    "bimanual_gripper_vertical_difference": 0.013643897379896259,
    "task_success": 0.0
  },
  {
    "completion_time": 1.660094976425171,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000648457744630182,
      "book-upper shelf": 0.5933292625542076,
      "book-lower shelf": 0.3779834062633058
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2820753233074026,
    "bimanual_gripper_vertical_difference": 0.014629997538161504,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6917266845703125,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006307874637773159,
      "book-upper shelf": 0.5933453747910328,
      "book-lower shelf": 0.3779971873750079
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2840466669808559,
    "bimanual_gripper_vertical_difference": 0.015690743754309986,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7224631309509277,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006389402277249268,
      "book-upper shelf": 0.5933328221688031,
      "book-lower shelf": 0.37798279401171025
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.28753534875439285,
    "bimanual_gripper_vertical_difference": 0.01687300401830969,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7536225318908691,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005459989195498727,
      "book-upper shelf": 0.5934079258460668,
      "book-lower shelf": 0.37804014630185645
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2967912687271452,
    "bimanual_gripper_vertical_difference": 0.018216752229602055,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7851576805114746,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005566109792728424,
      "book-upper shelf": 0.5934083196203157,
      "book-lower shelf": 0.3780476761764356
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.30822085306586705,
    "bimanual_gripper_vertical_difference": 0.019729217158749812,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8171391487121582,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00044341222887811504,
      "book-upper shelf": 0.5935025877706721,
      "book-lower shelf": 0.3781219229742947
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.31982076333393916,
    "bimanual_gripper_vertical_difference": 0.021397573632283146,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8485548496246338,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006518046606818206,
      "book-upper shelf": 0.593315848129913,
      "book-lower shelf": 0.37796452933868707
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3276651049729026,
    "bimanual_gripper_vertical_difference": 0.023180545896849876,
    "task_success": 0.0
  },
  {
    "completion_time": 1.879894733428955,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006372319943235283,
      "book-upper shelf": 0.5933233575203898,
      "book-lower shelf": 0.3779668240280278
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3319721494674279,
    "bimanual_gripper_vertical_difference": 0.025043574011340816,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9115724563598633,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005674550814808166,
      "book-upper shelf": 0.5933821677598393,
      "book-lower shelf": 0.3780136887220916
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3342484590252971,
    "bimanual_gripper_vertical_difference": 0.02696453304656101,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9455070495605469,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005368550911136749,
      "book-upper shelf": 0.5934020439764212,
      "book-lower shelf": 0.37802495774232875
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3368215608162344,
    "bimanual_gripper_vertical_difference": 0.028936683870126666,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9773523807525635,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005439282213197671,
      "book-upper shelf": 0.593401359280508,
      "book-lower shelf": 0.3780284899840373
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3410366488510807,
    "bimanual_gripper_vertical_difference": 0.03095606853827142,
    "task_success": 0.0
  },
  {
    "completion_time": 2.009307861328125,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005671364184477445,
      "book-upper shelf": 0.5933782206837942,
      "book-lower shelf": 0.378007285250128
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3453404310238128,
    "bimanual_gripper_vertical_difference": 0.03299023105300591,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0408966541290283,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006366057832348782,
      "book-upper shelf": 0.5933125092217456,
      "book-lower shelf": 0.3779493864367555
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3494413619008445,
    "bimanual_gripper_vertical_difference": 0.0350020010974795,
    "task_success": 0.0
  },
  {
    "completion_time": 2.072601079940796,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005086989655752605,
      "book-upper shelf": 0.5934205767747912,
      "book-lower shelf": 0.3780357103984116
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3539095174647617,
    "bimanual_gripper_vertical_difference": 0.03698358437892811,
    "task_success": 0.0
  },
  {
    "completion_time": 2.103764533996582,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004266095822943461,
      "book-upper shelf": 0.593495503318746,
      "book-lower shelf": 0.3780998610679125
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3600204846798314,
    "bimanual_gripper_vertical_difference": 0.038942550818791576,
    "task_success": 0.0
  },
  {
    "completion_time": 2.13486909866333,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005908442712856399,
      "book-upper shelf": 0.5933517484746728,
      "book-lower shelf": 0.37798117316919405
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36532358597099873,
    "bimanual_gripper_vertical_difference": 0.040845116878416174,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1655514240264893,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000529893701643247,
      "book-upper shelf": 0.593402478030195,
      "book-lower shelf": 0.37802110480346757
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3704385261863279,
    "bimanual_gripper_vertical_difference": 0.04267123296202692,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1977858543395996,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006632970496041057,
      "book-upper shelf": 0.5932868851180098,
      "book-lower shelf": 0.37792655010734477
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36728253090237084,
    "bimanual_gripper_vertical_difference": 0.04443429719444602,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2291462421417236,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007288873223650905,
      "book-upper shelf": 0.5932156627811411,
      "book-lower shelf": 0.3778574754078892
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36213892197788305,
    "bimanual_gripper_vertical_difference": 0.04614084712856639,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2609829902648926,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004910715851917935,
      "book-upper shelf": 0.5934269375500177,
      "book-lower shelf": 0.3780342140643474
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.357102231692853,
    "bimanual_gripper_vertical_difference": 0.047795090965062285,
    "task_success": 0.0
  },
  {
    "completion_time": 2.29248309135437,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005492439544590999,
      "book-upper shelf": 0.5933870764666033,
      "book-lower shelf": 0.3780095320147599
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3521815093007041,
    "bimanual_gripper_vertical_difference": 0.04940072750262728,
    "task_success": 0.0
  },
  {
    "completion_time": 2.32364559173584,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00046372479522538423,
      "book-upper shelf": 0.5934407996092829,
      "book-lower shelf": 0.3780381627659745
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34743375462386483,
    "bimanual_gripper_vertical_difference": 0.05095981686900856,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3554346561431885,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006075192083039305,
      "book-upper shelf": 0.5933252087381806,
      "book-lower shelf": 0.3779503733948811
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34331320708067403,
    "bimanual_gripper_vertical_difference": 0.05248494447921512,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3867576122283936,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005522421682012668,
      "book-upper shelf": 0.5933658741345827,
      "book-lower shelf": 0.37797820153321904
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33890242407290655,
    "bimanual_gripper_vertical_difference": 0.054008697824765334,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4179673194885254,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005748500095384967,
      "book-upper shelf": 0.5933431381188575,
      "book-lower shelf": 0.3779572370400697
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33834060696212953,
    "bimanual_gripper_vertical_difference": 0.0555796339322231,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4489941596984863,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005798122821814022,
      "book-upper shelf": 0.5933332435785438,
      "book-lower shelf": 0.3779449365778337
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.341501874010808,
    "bimanual_gripper_vertical_difference": 0.057229659228874574,
    "task_success": 0.0
  },
  {
    "completion_time": 2.481125593185425,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006118295043997524,
      "book-upper shelf": 0.5933157860275562,
      "book-lower shelf": 0.3779383891323145
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34527816918450727,
    "bimanual_gripper_vertical_difference": 0.05895892476409177,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5125792026519775,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006552252222125077,
      "book-upper shelf": 0.5932664762790003,
      "book-lower shelf": 0.37788925114128447
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3481417732581013,
    "bimanual_gripper_vertical_difference": 0.060765851308578346,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5444412231445312,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006614144428717106,
      "book-upper shelf": 0.5932549500058535,
      "book-lower shelf": 0.37787518817696075
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3518160547744934,
    "bimanual_gripper_vertical_difference": 0.06264978469031152,
    "task_success": 0.0
  },
  {
    "completion_time": 2.578817129135132,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005715556901176866,
      "book-upper shelf": 0.5933350446546025,
      "book-lower shelf": 0.37794238503496
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3550425638111138,
    "bimanual_gripper_vertical_difference": 0.06459355311882871,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6100220680236816,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006406545824686471,
      "book-upper shelf": 0.5932696921012554,
      "book-lower shelf": 0.3778848058681539
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35583564810470975,
    "bimanual_gripper_vertical_difference": 0.06656218694768185,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6417369842529297,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006419679661668898,
      "book-upper shelf": 0.5932658779968001,
      "book-lower shelf": 0.3778796735883114
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35564975251790865,
    "bimanual_gripper_vertical_difference": 0.06852874373882226,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6754238605499268,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000654733888717618,
      "book-upper shelf": 0.5932557019379351,
      "book-lower shelf": 0.37787201560357997
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35681431720078505,
    "bimanual_gripper_vertical_difference": 0.07049341350651027,
    "task_success": 0.0
  },
  {
    "completion_time": 2.70743465423584,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005637274353750277,
      "book-upper shelf": 0.5933374083644192,
      "book-lower shelf": 0.37794099583294904
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3617619475933491,
    "bimanual_gripper_vertical_difference": 0.07247092064078575,
    "task_success": 0.0
  },
  {
    "completion_time": 2.738978385925293,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005289160146714211,
      "book-upper shelf": 0.5933601364479258,
      "book-lower shelf": 0.37795399826964554
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.367035677494754,
    "bimanual_gripper_vertical_difference": 0.07447121200939989,
    "task_success": 0.0
  },
  {
    "completion_time": 2.770524024963379,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006472330525334469,
      "book-upper shelf": 0.5932521719708341,
      "book-lower shelf": 0.3778615858429935
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3712224667476536,
    "bimanual_gripper_vertical_difference": 0.07651061752998961,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8025267124176025,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005073222325744364,
      "book-upper shelf": 0.5933713749775213,
      "book-lower shelf": 0.37795757442768024
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3741043003707492,
    "bimanual_gripper_vertical_difference": 0.07853281414121811,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8345725536346436,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004237011751052622,
      "book-upper shelf": 0.5934476292891792,
      "book-lower shelf": 0.3780228153747247
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3764316790302164,
    "bimanual_gripper_vertical_difference": 0.08051340291406321,
    "task_success": 0.0
  },
  {
    "completion_time": 2.866647958755493,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006639464845193954,
      "book-upper shelf": 0.5932310348464466,
      "book-lower shelf": 0.3778392908925938
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.37645796517404606,
    "bimanual_gripper_vertical_difference": 0.08245000995872573,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8988187313079834,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007016123541034869,
      "book-upper shelf": 0.5931963396275686,
      "book-lower shelf": 0.3778093632272915
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3740029690995177,
    "bimanual_gripper_vertical_difference": 0.08433937680919004,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9300167560577393,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005144265084776611,
      "book-upper shelf": 0.5933663119766391,
      "book-lower shelf": 0.37795425399637966
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3725581303399705,
    "bimanual_gripper_vertical_difference": 0.08617389316372999,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9612090587615967,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006512267054203935,
      "book-upper shelf": 0.5932488664912549,
      "book-lower shelf": 0.37785899853674015
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3750801637937459,
    "bimanual_gripper_vertical_difference": 0.08794816216284874,
    "task_success": 0.0
  },
  {
    "completion_time": 2.991670846939087,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007306160319243693,
      "book-upper shelf": 0.5931667546959418,
      "book-lower shelf": 0.37778181445417824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.38067795966641216,
    "bimanual_gripper_vertical_difference": 0.0896489690272113,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0225398540496826,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000496607498498669,
      "book-upper shelf": 0.5933627920375725,
      "book-lower shelf": 0.3779371190137076
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.38782256337214044,
    "bimanual_gripper_vertical_difference": 0.09126128007111596,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0531058311462402,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005153555053817316,
      "book-upper shelf": 0.5933469303885073,
      "book-lower shelf": 0.37792443055614977
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3962609738046223,
    "bimanual_gripper_vertical_difference": 0.0927642512289694,
    "task_success": 0.0
  },
  {
    "completion_time": 3.08392071723938,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005428729423067047,
      "book-upper shelf": 0.5933284611985166,
      "book-lower shelf": 0.3779133620814533
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4052232643647984,
    "bimanual_gripper_vertical_difference": 0.09416175211128933,
    "task_success": 0.0
  },
  {
    "completion_time": 3.115272045135498,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006576140254273,
      "book-upper shelf": 0.5932190708397345,
      "book-lower shelf": 0.3778163795095674
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4142800966717386,
    "bimanual_gripper_vertical_difference": 0.09547480962771833,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1465961933135986,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004883937706844366,
      "book-upper shelf": 0.5933669029377867,
      "book-lower shelf": 0.3779382219430655
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.422726564071856,
    "bimanual_gripper_vertical_difference": 0.09672431331745819,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1787238121032715,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005458477866134848,
      "book-upper shelf": 0.5933274687305016,
      "book-lower shelf": 0.3779137421207754
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43026561265016605,
    "bimanual_gripper_vertical_difference": 0.09793186323019436,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2131714820861816,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006099337967514495,
      "book-upper shelf": 0.5932655391953138,
      "book-lower shelf": 0.37785826772205083
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4364218685881715,
    "bimanual_gripper_vertical_difference": 0.09911282798117799,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2448437213897705,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000651618486117278,
      "book-upper shelf": 0.5932176434999401,
      "book-lower shelf": 0.3778102310341201
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4408126505595184,
    "bimanual_gripper_vertical_difference": 0.10027509612028435,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2761783599853516,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007457251845921498,
      "book-upper shelf": 0.5931160347505385,
      "book-lower shelf": 0.37771202209645327
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4430473637705001,
    "bimanual_gripper_vertical_difference": 0.10142129983848035,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3063278198242188,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007728815622694007,
      "book-upper shelf": 0.5930903724690191,
      "book-lower shelf": 0.3776894280114089
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44294266836007157,
    "bimanual_gripper_vertical_difference": 0.10255873376168909,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3366527557373047,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007758390607329746,
      "book-upper shelf": 0.5930870858230339,
      "book-lower shelf": 0.3776861950168676
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44160234986823693,
    "bimanual_gripper_vertical_difference": 0.10369159374161263,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3666040897369385,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007787057008966647,
      "book-upper shelf": 0.5930838491852,
      "book-lower shelf": 0.3776829813183788
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43941206219919604,
    "bimanual_gripper_vertical_difference": 0.10482255697781298,
    "task_success": 0.0
  },
  {
    "completion_time": 3.396737813949585,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007815761450281622,
      "book-upper shelf": 0.593080676059749,
      "book-lower shelf": 0.37767986983542573
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4380409052560416,
    "bimanual_gripper_vertical_difference": 0.1059568316769606,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4265685081481934,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007843590222358365,
      "book-upper shelf": 0.5930774831520474,
      "book-lower shelf": 0.3776766701998682
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43720649112520615,
    "bimanual_gripper_vertical_difference": 0.10707306011972587,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4580612182617188,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007873884576032886,
      "book-upper shelf": 0.5930740620952298,
      "book-lower shelf": 0.3776732730375193
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43567616116489033,
    "bimanual_gripper_vertical_difference": 0.10816327851727867,
    "task_success": 0.0
  },
  {
    "completion_time": 3.488682746887207,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007904195727134189,
      "book-upper shelf": 0.5930706393618566,
      "book-lower shelf": 0.3776698743379592
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43344808402323953,
    "bimanual_gripper_vertical_difference": 0.1092139832027402,
    "task_success": 0.0
  },
  {
    "completion_time": 3.519793748855591,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00079345072242476,
      "book-upper shelf": 0.5930672164709081,
      "book-lower shelf": 0.3776664754139444
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43073573081683425,
    "bimanual_gripper_vertical_difference": 0.11022165019567745,
    "task_success": 0.0
  },
  {
    "completion_time": 3.550546884536743,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007964818957822972,
      "book-upper shelf": 0.5930637934324852,
      "book-lower shelf": 0.37766307627419227
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4278742868180668,
    "bimanual_gripper_vertical_difference": 0.11119722597273793,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5827579498291016,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007995130926656824,
      "book-upper shelf": 0.593060370246684,
      "book-lower shelf": 0.3776596769187738
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4251692727685143,
    "bimanual_gripper_vertical_difference": 0.11215177599848694,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6138622760772705,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008025443130257326,
      "book-upper shelf": 0.5930569469135355,
      "book-lower shelf": 0.3776562773477035
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42335460628937516,
    "bimanual_gripper_vertical_difference": 0.11309699874284247,
    "task_success": 0.0
  },
  {
    "completion_time": 3.645007848739624,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008053172101162298,
      "book-upper shelf": 0.5930538293998565,
      "book-lower shelf": 0.3776531896022125
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42137216143375394,
    "bimanual_gripper_vertical_difference": 0.11403101732643552,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6786816120147705,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008083379098983157,
      "book-upper shelf": 0.5930504155448308,
      "book-lower shelf": 0.37764979805686555
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.41820667175937115,
    "bimanual_gripper_vertical_difference": 0.11495043639941753,
    "task_success": 0.0
  },
  {
    "completion_time": 3.708714008331299,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008111502973284779,
      "book-upper shelf": 0.593047261496405,
      "book-lower shelf": 0.37764667868666196
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.41468409594627986,
    "bimanual_gripper_vertical_difference": 0.1158561345921977,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7385153770446777,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008141313384584237,
      "book-upper shelf": 0.5930438840305837,
      "book-lower shelf": 0.3776433184295242
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4112027180984741,
    "bimanual_gripper_vertical_difference": 0.1167480462788695,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7695155143737793,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00081716237844498,
      "book-upper shelf": 0.5930404602580641,
      "book-lower shelf": 0.3776399180530537
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.40793084377265704,
    "bimanual_gripper_vertical_difference": 0.11762370880389694,
    "task_success": 0.0
  },
  {
    "completion_time": 3.800391435623169,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008201328450453405,
      "book-upper shelf": 0.5930371260723444,
      "book-lower shelf": 0.37763661886850985
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.40460704705069417,
    "bimanual_gripper_vertical_difference": 0.11848030919745463,
    "task_success": 0.0
  },
  {
    "completion_time": 3.834172487258911,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008230912043327709,
      "book-upper shelf": 0.5930337691780482,
      "book-lower shelf": 0.37763327612889824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.40133829637116575,
    "bimanual_gripper_vertical_difference": 0.1193199720069212,
    "task_success": 0.0
  },
  {
    "completion_time": 3.866837739944458,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008261407259984033,
      "book-upper shelf": 0.5930303613614796,
      "book-lower shelf": 0.37762991286150777
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3982600077756022,
    "bimanual_gripper_vertical_difference": 0.12014338967729818,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9001522064208984,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008288901406202642,
      "book-upper shelf": 0.5930272313775122,
      "book-lower shelf": 0.3776267902251742
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39516794484920015,
    "bimanual_gripper_vertical_difference": 0.12094329028760033,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9365036487579346,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008319024720998547,
      "book-upper shelf": 0.5930238580196853,
      "book-lower shelf": 0.37762345682395815
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3927924473377992,
    "bimanual_gripper_vertical_difference": 0.12172169659704812,
    "task_success": 0.0
  },
  {
    "completion_time": 3.970299482345581,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008347234572153583,
      "book-upper shelf": 0.5930206613743926,
      "book-lower shelf": 0.3776202761692794
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3921253190966002,
    "bimanual_gripper_vertical_difference": 0.12248385079977321,
    "task_success": 0.0
  },
  {
    "completion_time": 4.002737283706665,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008377098399627858,
      "book-upper shelf": 0.593017278012356,
      "book-lower shelf": 0.37761691013857596
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39268345566077917,
    "bimanual_gripper_vertical_difference": 0.12322709765571292,
    "task_success": 0.0
  },
  {
    "completion_time": 4.034083127975464,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007978383814288836,
      "book-upper shelf": 0.5930560417887573,
      "book-lower shelf": 0.3776517877673298
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3940522587350837,
    "bimanual_gripper_vertical_difference": 0.1239456163278022,
    "task_success": 0.0
  },
  {
    "completion_time": 4.065661191940308,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008009237507703437,
      "book-upper shelf": 0.5930525670550311,
      "book-lower shelf": 0.37764834275076975
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39526348884562795,
    "bimanual_gripper_vertical_difference": 0.12463540460999091,
    "task_success": 0.0
  },
  {
    "completion_time": 4.096474647521973,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008368209008281502,
      "book-upper shelf": 0.5922393879372735,
      "book-lower shelf": 0.37639353563479533
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3954423524753499,
    "bimanual_gripper_vertical_difference": 0.1253045604261116,
    "task_success": 0.0
  },
  {
    "completion_time": 4.126667737960815,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0009489540498768267,
      "book-upper shelf": 0.5912563866308971,
      "book-lower shelf": 0.3749185721517289
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3951734722436624,
    "bimanual_gripper_vertical_difference": 0.1259531615124297,
    "task_success": 0.0
  },
  {
    "completion_time": 4.156292200088501,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0013603223836633482,
      "book-upper shelf": 0.5900684748542646,
      "book-lower shelf": 0.3733138148593039
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39624782375715245,
    "bimanual_gripper_vertical_difference": 0.12657671720646688,
    "task_success": 0.0
  },
  {
    "completion_time": 4.185917615890503,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0015228025730908978,
      "book-upper shelf": 0.5892468061295422,
      "book-lower shelf": 0.3721212319270866
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39736431339626777,
    "bimanual_gripper_vertical_difference": 0.1271752761424815,
    "task_success": 0.0
  },
  {
    "completion_time": 4.216529846191406,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0020678573151002855,
      "book-upper shelf": 0.5883217082594785,
      "book-lower shelf": 0.3710165189496231
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39819296015248024,
    "bimanual_gripper_vertical_difference": 0.1277494141606164,
    "task_success": 0.0
  },
  {
    "completion_time": 4.24657940864563,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0030832162421573495,
      "book-upper shelf": 0.5872517954347358,
      "book-lower shelf": 0.36999393193393476
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39797746893290953,
    "bimanual_gripper_vertical_difference": 0.12829402797502243,
    "task_success": 0.0
  },
  {
    "completion_time": 4.276682615280151,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0024651776379446266,
      "book-upper shelf": 0.5880363947367252,
      "book-lower shelf": 0.3708278399090888
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39720251353517994,
    "bimanual_gripper_vertical_difference": 0.12880247086170316,
    "task_success": 0.0
  },
  {
    "completion_time": 4.307961702346802,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": -0.00034905627535075645,
      "book-upper shelf": 0.5909116286511654,
      "book-lower shelf": 0.37351997095800155
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39699104920988604,
    "bimanual_gripper_vertical_difference": 0.12926828698220388,
    "task_success": 0.0
  },
  {
    "completion_time": 4.3391852378845215,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006029747575557742,
      "book-upper shelf": 0.5900145313555282,
      "book-lower shelf": 0.37272857513349067
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3967751366219209,
    "bimanual_gripper_vertical_difference": 0.12968985407912856,
    "task_success": 0.0
  },
  {
    "completion_time": 4.370063543319702,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007102179360747307,
      "book-upper shelf": 0.5899192439931529,
      "book-lower shelf": 0.3726485876089572
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39644468136744604,
    "bimanual_gripper_vertical_difference": 0.13006649906508483,
    "task_success": 0.0
  },
  {
    "completion_time": 4.40117335319519,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0002968500228225368,
      "book-upper shelf": 0.5902783349941289,
      "book-lower shelf": 0.37294397052175365
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39528372959236674,
    "bimanual_gripper_vertical_difference": 0.1304033167922261,
    "task_success": 0.0
  },
  {
    "completion_time": 4.432844877243042,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00017835557241274724,
      "book-upper shelf": 0.5903951472423581,
      "book-lower shelf": 0.37305062616278595
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39319675929971015,
    "bimanual_gripper_vertical_difference": 0.13071475507809316,
    "task_success": 0.0
  },
  {
    "completion_time": 4.4657487869262695,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016215615696191232,
      "book-upper shelf": 0.5904137602060541,
      "book-lower shelf": 0.37306939117495647
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39197625969112865,
    "bimanual_gripper_vertical_difference": 0.13101619534205564,
    "task_success": 0.0
  },
  {
    "completion_time": 4.496877908706665,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001621393775049773,
      "book-upper shelf": 0.590417571906755,
      "book-lower shelf": 0.37307541240910724
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39091428736208145,
    "bimanual_gripper_vertical_difference": 0.1313133340768839,
    "task_success": 0.0
  },
  {
    "completion_time": 4.527628183364868,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016231431533986207,
      "book-upper shelf": 0.5904212285134383,
      "book-lower shelf": 0.3730813146693513
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3900866771707897,
    "bimanual_gripper_vertical_difference": 0.13160721508555956,
    "task_success": 0.0
  },
  {
    "completion_time": 4.5588226318359375,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001624239343007705,
      "book-upper shelf": 0.590424933827014,
      "book-lower shelf": 0.3730872508443366
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3886026230623836,
    "bimanual_gripper_vertical_difference": 0.13189771717050655,
    "task_success": 0.0
  },
  {
    "completion_time": 4.590566396713257,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016253001579313864,
      "book-upper shelf": 0.5904286300335418,
      "book-lower shelf": 0.37309317021498367
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3879749687499538,
    "bimanual_gripper_vertical_difference": 0.13218544130254364,
    "task_success": 0.0
  },
  {
    "completion_time": 4.621883153915405,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001626360606209465,
      "book-upper shelf": 0.590432314021251,
      "book-lower shelf": 0.3730990701677589
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39010380506959585,
    "bimanual_gripper_vertical_difference": 0.13246882452083983,
    "task_success": 0.0
  },
  {
    "completion_time": 4.65578293800354,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016274192676757337,
      "book-upper shelf": 0.5904359859293363,
      "book-lower shelf": 0.3731049508297744
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39449415648944,
    "bimanual_gripper_vertical_difference": 0.13274517595203253,
    "task_success": 0.0
  },
  {
    "completion_time": 4.686920642852783,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016284759339579846,
      "book-upper shelf": 0.5904396457769073,
      "book-lower shelf": 0.373110812218075
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3992729041450849,
    "bimanual_gripper_vertical_difference": 0.13301463281025683,
    "task_success": 0.0
  },
  {
    "completion_time": 4.717696666717529,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016295306052394043,
      "book-upper shelf": 0.5904432935640779,
      "book-lower shelf": 0.3731166543334066
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4040744337389,
    "bimanual_gripper_vertical_difference": 0.13327643013575302,
    "task_success": 0.0
  },
  {
    "completion_time": 4.748366832733154,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016305832842866685,
      "book-upper shelf": 0.5904469292908417,
      "book-lower shelf": 0.3731224771764935
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4103639102399094,
    "bimanual_gripper_vertical_difference": 0.133521923986653,
    "task_success": 0.0
  },
  {
    "completion_time": 4.779157400131226,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016316339730415574,
      "book-upper shelf": 0.5904505529573439,
      "book-lower shelf": 0.3731282807482427
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.418036867390796,
    "bimanual_gripper_vertical_difference": 0.13375068070491392,
    "task_success": 0.0
  },
  {
    "completion_time": 4.8097217082977295,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001632682673415875,
      "book-upper shelf": 0.5904541645638063,
      "book-lower shelf": 0.37313406504967933
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4243473402225296,
    "bimanual_gripper_vertical_difference": 0.13396488347368538,
    "task_success": 0.0
  },
  {
    "completion_time": 4.840159177780151,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001633729387319205,
      "book-upper shelf": 0.5904577641105243,
      "book-lower shelf": 0.3731398300819434
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42977646638140204,
    "bimanual_gripper_vertical_difference": 0.13416378662141812,
    "task_success": 0.0
  },
  {
    "completion_time": 4.871999740600586,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016347741166755636,
      "book-upper shelf": 0.5904613515978664,
      "book-lower shelf": 0.37314557584628855
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4351358356648309,
    "bimanual_gripper_vertical_difference": 0.13434721958602014,
    "task_success": 0.0
  },
  {
    "completion_time": 4.903055667877197,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016358168634100778,
      "book-upper shelf": 0.5904649270262744,
      "book-lower shelf": 0.37315130234408317
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44057865083517667,
    "bimanual_gripper_vertical_difference": 0.13451843165569446,
    "task_success": 0.0
  },
  {
    "completion_time": 4.934676170349121,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016368576294545356,
      "book-upper shelf": 0.5904684903962626,
      "book-lower shelf": 0.37315700957680925
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4446907238364946,
    "bimanual_gripper_vertical_difference": 0.13468134202457757,
    "task_success": 0.0
  },
  {
    "completion_time": 4.965622425079346,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016378964167529375,
      "book-upper shelf": 0.5904720417084182,
      "book-lower shelf": 0.3731626975460622
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4464713593845714,
    "bimanual_gripper_vertical_difference": 0.13483984458379272,
    "task_success": 0.0
  },
  {
    "completion_time": 4.9964094161987305,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016389332272503943,
      "book-upper shelf": 0.5904755809634006,
      "book-lower shelf": 0.3731683662535509
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4457222021696526,
    "bimanual_gripper_vertical_difference": 0.1349987206370753,
    "task_success": 0.0
  },
  {
    "completion_time": 5.027145862579346,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016399680628875757,
      "book-upper shelf": 0.5904791081619433,
      "book-lower shelf": 0.37317401570109826
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4468853169142156,
    "bimanual_gripper_vertical_difference": 0.13516740631178553,
    "task_success": 0.0
  },
  {
    "completion_time": 5.05810546875,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016410009256340174,
      "book-upper shelf": 0.5904826233048495,
      "book-lower shelf": 0.37317964589063835
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4442483815908311,
    "bimanual_gripper_vertical_difference": 0.13533665208874077,
    "task_success": 0.0
  },
  {
    "completion_time": 5.090930938720703,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016420318174448223,
      "book-upper shelf": 0.5904861263929966,
      "book-lower shelf": 0.37318525682421944
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44159293118237164,
    "bimanual_gripper_vertical_difference": 0.13550653125000117,
    "task_success": 0.0
  },
  {
    "completion_time": 5.122282981872559,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016430607402939668,
      "book-upper shelf": 0.5904896174273331,
      "book-lower shelf": 0.37319084850400114
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4389005720882635,
    "bimanual_gripper_vertical_difference": 0.13567605435277164,
    "task_success": 0.0
  },
  {
    "completion_time": 5.153538703918457,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016440876961498763,
      "book-upper shelf": 0.5904930964088797,
      "book-lower shelf": 0.37319642093225613
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4362445844859162,
    "bimanual_gripper_vertical_difference": 0.13584457411006842,
    "task_success": 0.0
  },
  {
    "completion_time": 5.184872150421143,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016451126869931887,
      "book-upper shelf": 0.5904965633387288,
      "book-lower shelf": 0.3732019741113684
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4336125691909997,
    "bimanual_gripper_vertical_difference": 0.13601170203850346,
    "task_success": 0.0
  },
  {
    "completion_time": 5.2160115242004395,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016461357148123135,
      "book-upper shelf": 0.5905000182180439,
      "book-lower shelf": 0.3732075080438336
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4310027049003694,
    "bimanual_gripper_vertical_difference": 0.1361772127702511,
    "task_success": 0.0
  },
  {
    "completion_time": 5.247569561004639,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016471567815978805,
      "book-upper shelf": 0.5905034610480601,
      "book-lower shelf": 0.37321302273225876
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4284815912982015,
    "bimanual_gripper_vertical_difference": 0.13634097947364068,
    "task_success": 0.0
  },
  {
    "completion_time": 5.2789225578308105,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016481758893405196,
      "book-upper shelf": 0.5905068918300843,
      "book-lower shelf": 0.3732185181793627
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4259233106016818,
    "bimanual_gripper_vertical_difference": 0.13650293959111667,
    "task_success": 0.0
  },
  {
    "completion_time": 5.31063437461853,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016491930400508448,
      "book-upper shelf": 0.5905103105654932,
      "book-lower shelf": 0.37322399438797377
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4234859663052613,
    "bimanual_gripper_vertical_difference": 0.13666410745988322,
    "task_success": 0.0
  },
  {
    "completion_time": 5.342092037200928,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016502082357328085,
      "book-upper shelf": 0.5905137172557355,
      "book-lower shelf": 0.373229451361032
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42115273961518096,
    "bimanual_gripper_vertical_difference": 0.13681971438302643,
    "task_success": 0.0
  },
  {
    "completion_time": 5.373608350753784,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001651221478398135,
      "book-upper shelf": 0.5905171119023302,
      "book-lower shelf": 0.3732348891015877
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4196259755775198,
    "bimanual_gripper_vertical_difference": 0.13696252241705742,
    "task_success": 0.0
  },
  {
    "completion_time": 5.40575909614563,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016522327700663197,
      "book-upper shelf": 0.5905204945068672,
      "book-lower shelf": 0.37324030761280097
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.41859519609560725,
    "bimanual_gripper_vertical_difference": 0.13709056557624424,
    "task_success": 0.0
  },
  {
    "completion_time": 5.437566518783569,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016532421127624097,
      "book-upper shelf": 0.5905238650710064,
      "book-lower shelf": 0.37324570689794195
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4180666020313762,
    "bimanual_gripper_vertical_difference": 0.13720692990899785,
    "task_success": 0.0
  },
  {
    "completion_time": 5.469172239303589,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016542495085136721,
      "book-upper shelf": 0.5905272235964782,
      "book-lower shelf": 0.37325108696039033
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.417778681779015,
    "bimanual_gripper_vertical_difference": 0.1373161092193866,
    "task_success": 0.0
  },
  {
    "completion_time": 5.500432968139648,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016552549593551458,
      "book-upper shelf": 0.5905305700850833,
      "book-lower shelf": 0.3732564478036353
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4174599166081191,
    "bimanual_gripper_vertical_difference": 0.13742135232488792,
    "task_success": 0.0
  },
  {
    "completion_time": 5.531482696533203,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000165625846732409,
      "book-upper shelf": 0.5905339045386923,
      "book-lower shelf": 0.3732617894312752
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4171409314214505,
    "bimanual_gripper_vertical_difference": 0.13752281355068172,
    "task_success": 0.0
  },
  {
    "completion_time": 5.562346696853638,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016572600344733068,
      "book-upper shelf": 0.5905372269592446,
      "book-lower shelf": 0.37326711184701605
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4170990228474906,
    "bimanual_gripper_vertical_difference": 0.13761164318656108,
    "task_success": 0.0
  },
  {
    "completion_time": 5.593870162963867,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016582596628444968,
      "book-upper shelf": 0.5905405373487509,
      "book-lower shelf": 0.37327241505467407
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4166506072875081,
    "bimanual_gripper_vertical_difference": 0.1376827095836111,
    "task_success": 0.0
  },
  {
    "completion_time": 5.626756429672241,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016592573545026745,
      "book-upper shelf": 0.5905438357092897,
      "book-lower shelf": 0.3732776990581725
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4174500626735502,
    "bimanual_gripper_vertical_difference": 0.13773600005013503,
    "task_success": 0.0
  },
  {
    "completion_time": 5.661123752593994,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016602531114973118,
      "book-upper shelf": 0.5905471220430106,
      "book-lower shelf": 0.37328296386154386
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4212795175776778,
    "bimanual_gripper_vertical_difference": 0.1377769496828037,
    "task_success": 0.0
  },
  {
    "completion_time": 5.692698240280151,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001661246935905636,
      "book-upper shelf": 0.5905503963521305,
      "book-lower shelf": 0.3732882094689269
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4254074414516113,
    "bimanual_gripper_vertical_difference": 0.13781115957766332,
    "task_success": 0.0
  },
  {
    "completion_time": 5.727369546890259,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016622388297782287,
      "book-upper shelf": 0.5905536586389378,
      "book-lower shelf": 0.3732934358845703
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42911885648840803,
    "bimanual_gripper_vertical_difference": 0.13783816813263863,
    "task_success": 0.0
  },
  {
    "completion_time": 5.759759187698364,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016632287952134117,
      "book-upper shelf": 0.5905569089057863,
      "book-lower shelf": 0.37329864311282673
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.431086993327539,
    "bimanual_gripper_vertical_difference": 0.13785570485150148,
    "task_success": 0.0
  },
  {
    "completion_time": 5.792179822921753,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016642168342795305,
      "book-upper shelf": 0.5905601471551011,
      "book-lower shelf": 0.37330383115815835
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43162432215127766,
    "bimanual_gripper_vertical_difference": 0.13787018732986037,
    "task_success": 0.0
  },
  {
    "completion_time": 5.824399948120117,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016652029490649145,
      "book-upper shelf": 0.5905633733893748,
      "book-lower shelf": 0.373309000025133
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43243256416521114,
    "bimanual_gripper_vertical_difference": 0.13788053849196383,
    "task_success": 0.0
  },
  {
    "completion_time": 5.855966567993164,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001666169316698607,
      "book-upper shelf": 0.590566589316345,
      "book-lower shelf": 0.37331415124026723
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4342910355040411,
    "bimanual_gripper_vertical_difference": 0.1378888941895923,
    "task_success": 0.0
  },
  {
    "completion_time": 5.887557744979858,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001667126931905738,
      "book-upper shelf": 0.5905697938899606,
      "book-lower shelf": 0.3733192838743961
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4370415168873937,
    "bimanual_gripper_vertical_difference": 0.13789783677580472,
    "task_success": 0.0
  },
  {
    "completion_time": 5.918995141983032,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016680825304693503,
      "book-upper shelf": 0.5905729864579616,
      "book-lower shelf": 0.3733243973404207
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4401292054262209,
    "bimanual_gripper_vertical_difference": 0.13790894277658516,
    "task_success": 0.0
  },
  {
    "completion_time": 5.950798749923706,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016690362410620718,
      "book-upper shelf": 0.590576167012035,
      "book-lower shelf": 0.37332949163415635
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.443241121327587,
    "bimanual_gripper_vertical_difference": 0.1379237182454838,
    "task_success": 0.0
  },
  {
    "completion_time": 5.982699394226074,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016699880493054042,
      "book-upper shelf": 0.5905793355563059,
      "book-lower shelf": 0.37333456676165844
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44602971452589907,
    "bimanual_gripper_vertical_difference": 0.1379420841688412,
    "task_success": 0.0
  },
  {
    "completion_time": 6.014570951461792,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016709379556678616,
      "book-upper shelf": 0.5905824920935592,
      "book-lower shelf": 0.3733396227278388
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44841135696885376,
    "bimanual_gripper_vertical_difference": 0.13796361671151008,
    "task_success": 0.0
  },
  {
    "completion_time": 6.045861005783081,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016718859617981252,
      "book-upper shelf": 0.5905856366265412,
      "book-lower shelf": 0.3733446595376246
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4503654305938144,
    "bimanual_gripper_vertical_difference": 0.13798750434574622,
    "task_success": 0.0
  },
  {
    "completion_time": 6.077876329421997,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016728320693604193,
      "book-upper shelf": 0.5905887691580645,
      "book-lower shelf": 0.37334967719604667
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45104010049382665,
    "bimanual_gripper_vertical_difference": 0.1380126585156823,
    "task_success": 0.0
  },
  {
    "completion_time": 6.109584331512451,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016737762800056455,
      "book-upper shelf": 0.5905918896910107,
      "book-lower shelf": 0.37335467570824227
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45077740418188317,
    "bimanual_gripper_vertical_difference": 0.13803747649529477,
    "task_success": 0.0
  },
  {
    "completion_time": 6.141185998916626,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001674718595396918,
      "book-upper shelf": 0.5905949982283273,
      "book-lower shelf": 0.37335965507945157
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45065238369225635,
    "bimanual_gripper_vertical_difference": 0.13805978712620748,
    "task_success": 0.0
  },
  {
    "completion_time": 6.172495603561401,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016756590171951302,
      "book-upper shelf": 0.5905980947730294,
      "book-lower shelf": 0.3733646153150197
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4509342093588063,
    "bimanual_gripper_vertical_difference": 0.138079781242282,
    "task_success": 0.0
  },
  {
    "completion_time": 6.2040510177612305,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016765975470767192,
      "book-upper shelf": 0.5906011793281972,
      "book-lower shelf": 0.3733695564203939
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4505961279626092,
    "bimanual_gripper_vertical_difference": 0.1380977487671359,
    "task_success": 0.0
  },
  {
    "completion_time": 6.235710144042969,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016775341867125704,
      "book-upper shelf": 0.5906042518969785,
      "book-lower shelf": 0.37337447840112586
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44969337011891847,
    "bimanual_gripper_vertical_difference": 0.1381181656556525,
    "task_success": 0.0
  },
  {
    "completion_time": 6.267023086547852,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0001678468937795774,
      "book-upper shelf": 0.5906073124825858,
      "book-lower shelf": 0.3733793812628689
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.449228494921944,
    "bimanual_gripper_vertical_difference": 0.138142617281024,
    "task_success": 0.0
  },
  {
    "completion_time": 6.2982635498046875,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016794018020072077,
      "book-upper shelf": 0.5906103610882987,
      "book-lower shelf": 0.3733842650113802
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44705454250980237,
    "bimanual_gripper_vertical_difference": 0.13817011633404405,
    "task_success": 0.0
  },
  {
    "completion_time": 6.330206632614136,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00016803327810510638,
      "book-upper shelf": 0.5906133977174609,
      "book-lower shelf": 0.37338912965251775
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44487779629809,
    "bimanual_gripper_vertical_difference": 0.1381977319334098,
    "task_success": 0.0
  }
]